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Author SHA1 Message Date
erwincoumans 25c5e87dc2 PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES 2018-06-13 15:35:56 -07:00
erwincoumans b75c63f2a2 Merge pull request #1755 from erwincoumans/master 
path -> const
 2018-06-13 04:40:38 +00:00
erwincoumans ce9f29e416 Merge pull request #1752 from bulletphysics/erwincoumans-patch-2 
Update b3RobotSimulatorClientAPI_NoDirect.h
 2018-06-13 04:18:26 +00:00
erwincoumans 4f0959a136 Update b3RobotSimulatorClientAPI_NoDirect.h 2018-06-12 21:17:43 -07:00
erwincoumans 6376197e5e Merge pull request #1749 from erwincoumans/master 
remove getLinkState from API, it automatically calculated forwardKine…
 2018-06-13 03:38:36 +00:00
erwincoumans ce47fcc7f2 Merge pull request #1751 from bulletphysics/erwincoumans-patch-1 
Update btOverlappingPairCache.h
 2018-06-13 02:50:05 +00:00
erwincoumans 437d66f9b4 Update btOverlappingPairCache.h 
processAllOverlappingPairs : don't call own method, call the default one without dispatchInfo. Thanks James Dolan, fixes Issue #1750
 2018-06-12 19:04:31 -07:00
erwincoumans 08d84d6ce3 fix getLinkState usage 2018-06-12 17:00:16 -07:00
erwincoumans 4d6741f5cd PyBullet: expose STATE_LOGGING_ALL_COMMANDS and STATE_REPLAY_ALL_COMMANDS 
See examples/pybullet/examples/commandLogAndPlayback.py for an example.
 2018-06-12 16:56:45 -07:00
erwincoumans 459d07a302 add example for enableSAT, using separating axis test (instead of GJK) for contact between polyhedral convex hull shapes (and convex hull vs triangle in a concave triangle mesh) 2018-06-12 16:10:49 -07:00
erwincoumans 97c6937388 Simplify GJK. Still needs double precision for large differences of feature scales. 
Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
 2018-06-12 16:08:46 -07:00
erwincoumans a342af0382 remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive. 2018-06-11 23:49:34 -07:00
erwincoumans 9f79011582 Merge pull request #1748 from erwincoumans/master 
different way of sorting pairs,  exposed a few more methods in the C++ b3RobotSimulatorClientAPI
 2018-06-12 01:00:04 +00:00
erwincoumans 62485abafe PyBullet: disable deterministic pairs by default 
PyBullet: Only set static when sleeping is enables (todo: figure out issue with determinism)
 2018-06-11 17:32:44 -07:00
erwincoumans fc61a3531e Merge remote-tracking branch 'bp/master' 2018-06-11 08:35:14 -07:00
erwincoumans 6fb3cf7a43 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-11 08:34:37 -07:00
erwincoumans cb0e98c0a9 Merge pull request #1747 from erwincoumans/master 
remove ANYmal meshes
 2018-06-11 14:47:40 +00:00
erwincoumans 6705d2d649 Merge pull request #1743 from erwincoumans/master 
enable more unit tests in PyBullet, add BulletRobotics for premake build.
 2018-06-11 02:06:46 +00:00
erwincoumans 3eebcd40ca exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class) 2018-06-09 19:40:12 -07:00
erwincoumans 7ac3e263ab add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API. 2018-06-09 13:54:22 -07:00
erwincoumans 0cec85626f enable more unit tests in PyBullet. 
return Py_None if no user data found, to pass the test.
enable m_deterministicOverlappingPairs by default.
if m_deterministicOverlappingPairs, sort the collision pairs.
 2018-06-09 12:19:29 -07:00
erwincoumans 046a86cd84 add premake4.lua build for BulletRobotics target, C++ API, similar to PyBullet. Use BulletRobotics target for App_HelloBulletRobotics (without GUI) and App_RobotSimulator 2018-06-08 19:14:03 -07:00
erwincoumans 8a70afa4f6 Merge pull request #1736 from erwincoumans/master 
remove some warnings
 2018-06-06 19:22:19 -07:00
erwincoumans c60cc4897c Merge pull request #1735 from erwincoumans/master 
fix another parameter name in header, in enableJointForceTorqueSensor
 2018-06-05 19:59:38 -07:00
erwincoumans cb6d76d6b5 fix another parameter name in header, in enableJointForceTorqueSensor 2018-06-05 19:59:00 -07:00
erwincoumans bcf466ee4e Merge pull request #1734 from erwincoumans/master 
fix parameter name in header, computeForwardKinematics
 2018-06-05 19:57:52 -07:00
erwincoumans dff04c7f59 fix parameter name in header, computeForwardKinematics 2018-06-05 19:57:21 -07:00
erwincoumans 88008b400a Merge pull request #1733 from erwincoumans/master 
use new API b3CreateInProcessPhysicsServerFromExistingExampleBrowserA…
 2018-06-05 19:54:37 -07:00
erwincoumans 72d3f45b05 use new API b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3 (not 2) 2018-06-05 19:54:08 -07:00
erwincoumans 4615774150 Merge pull request #1732 from erwincoumans/master 
people are actually using this internal API, add a new one and keep o…
 2018-06-05 19:45:04 -07:00
erwincoumans 4083088a3a people are actually using this internal API, add a new one and keep old one backward compatible 
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3 is the new one,
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2 old
 2018-06-05 19:44:33 -07:00
erwincoumans 5ede227e94 Update robot_bases.py 
remove print
 2018-06-05 19:33:28 -07:00
erwincoumans e9b7ab1c59 Merge pull request #1731 from erwincoumans/master 
PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin, and allow to pick shared memory key in SHARED_MEMORY_SERVER
 2018-06-05 18:01:12 -07:00
erwincoumans b6f5cb4c34 enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) 
add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
 2018-06-05 15:59:01 -07:00
erwincoumans 49eb83c24e Avoid static multibody to activate/wake up sleeping objects. 
Couldn't reproduce an issue related to this.
 2018-06-05 12:20:42 -07:00
erwincoumans fa648a028e fix a few problems introduced in #1730 
https://github.com/bulletphysics/bullet3/pull/1730
 2018-06-05 09:16:00 -07:00
erwincoumans d7cbe8dd26 Merge remote-tracking branch 'bp/master' 2018-06-05 08:15:11 -07:00
erwincoumans 7d0e632fb3 Merge pull request #1730 from RanTig/master 
Adds unit tests for userData plus some bugfixes.
 2018-06-05 08:14:31 -07:00
Erwin Coumans dd745cbe2d Merge remote-tracking branch 'bp/master' 2018-06-05 11:42:49 +10:00
Erwin Coumans 7bd84740d7 PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin 
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
 2018-06-05 11:41:41 +10:00
Erwin Coumans e4cd88e24f PyBullet: allow to choose the shared memory key when starting SHARED_MEMORY_SERVER 2018-06-05 11:36:54 +10:00
erwincoumans e0667d8579 Merge pull request #1728 from erwincoumans/master 
PyBullet.addUserData (etc) and expose flags to createMultiBody
 2018-06-02 18:41:53 -07:00
erwincoumans 4997eb8da2 add new file related to PyBullet userData 2018-06-02 13:52:00 -07:00
erwincoumans b6120e760a PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo 
See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
 2018-06-02 13:40:08 -07:00
erwincoumans cb6b7a7c38 PyBullet: expose flags to createMultiBody 2018-06-02 11:37:14 -07:00
erwincoumans c77586a526 Merge pull request #1727 from erwincoumans/master 
PyBullet picking change, revert gjk test
 2018-06-02 00:13:43 -07:00
erwincoumans 68ea22bfd0 undo git merge conflict mess-up with IK 2018-06-01 22:50:06 -07:00
erwincoumans a450600eb8 revert gjk test 2018-06-01 22:17:46 -07:00
erwincoumans e721a9cdf5 revert testing changes 2018-06-01 22:02:17 -07:00
erwincoumans 54ddbad29f remove printf 2018-06-01 21:56:34 -07:00
erwincoumans 92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans 2d40a18315 picking shouldn't activate (wakeup) sleeping objects 2018-06-01 09:34:18 -07:00
erwincoumans 00c8f8f68e Merge pull request #1725 from erwincoumans/master 
Use dofCount and not numJoints in PyBullet.calculateInverseKinematics…
 2018-06-01 07:31:09 -07:00
erwincoumans 7653ddbeba bump up pybullet version (for fixed ik) 2018-05-31 21:17:39 -07:00
erwincoumans 4c75e022c8 Use dofCount and not numJoints in PyBullet.calculateInverseKinematics, fixes null space demo 
See baxter_ik_demo at https://github.com/erwincoumans/pybullet_robots
 2018-05-31 21:07:04 -07:00
erwincoumans 1d53c48322 Merge pull request #1724 from erwincoumans/master 
test space
 2018-05-31 18:20:12 -07:00
erwincoumans bc8378cb87 Merge pull request #1723 from erwincoumans/master 
fix different arg name in header versus cpp
 2018-05-31 18:08:29 -07:00
erwincoumans 309a07c21b Merge branch 'master' into master 2018-05-31 18:05:50 -07:00
erwincoumans 75eaaecf49 Merge pull request #1722 from erwincoumans/master 
implement accurate inverse kinematics in C++, exposed through PyBullet.calculateInverseKinematics
 2018-05-31 16:50:52 -07:00
erwincoumans 3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00
erwincoumans 8567f6bb7c PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py 
PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
 2018-05-30 21:14:35 -07:00
erwincoumans 292e198a57 Merge pull request #1719 from erwincoumans/master 
const char* for path, bump up pybullet version
 2018-05-30 19:48:25 -07:00
erwincoumans 150a0e050e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-30 19:47:47 -07:00
erwincoumans 1dec33d44b move default linearslop to 0 2018-05-30 12:31:29 -07:00
erwincoumans afa5ab25a6 Merge pull request #1715 from eastskykang/b3RobotAPI 
added functions to b3RobotSimulatorClientAPI_NoGUI
 2018-05-30 14:08:27 +10:00
erwincoumans 2819ff4a00 bump up version 2018-05-29 21:05:12 -07:00
erwincoumans 851459dbfe Merge pull request #1716 from erwincoumans/master 
fix fixed constraint between btMultiBody and btRigidBody, fix minitaur examples when ran from pip version
 2018-05-30 12:02:34 +10:00
erwincoumans 11d8f069f0 Disable overlapping pair debug variables behind the BT_DEBUG_COLLISION_PAIRS preprocessor definition. 2018-05-29 17:06:35 -07:00
erwincoumans 7d0c8d18a6 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-29 16:49:21 -07:00
erwincoumans ec4b3505a4 fix fixed constraint between btMultiBody and btRigidBody 2018-05-29 16:49:07 -07:00
erwincoumans fc9a2f88ef Merge pull request #1710 from erwincoumans/master 
Move from b3Vector3 to btVector3 to support double precision in examp…
 2018-05-27 11:25:40 +10:00
Erwin Coumans dcc9c4d0d9 fix HelloBulletRobotics example from b3Vector3 -> btVector3 2018-05-27 10:55:53 +10:00
Erwin Coumans 57b3e0d221 Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API. 2018-05-27 10:42:33 +10:00
erwincoumans 85478fc6ef Merge pull request #1706 from erwincoumans/master 
add HelloBulletRobotics C++ example with similar API to PyBullet
 2018-05-26 16:35:38 +10:00
Erwin Coumans e79ae13cde disable adhoc gjk terminarion heuristics by default 2018-05-26 08:52:52 +10:00
Erwin Coumans d133c33d73 Use a very large default m_contactStiffness (so that if one object is a bit soft, the stiffness is properly combined) 2018-05-26 08:50:45 +10:00
Erwin Coumans 3d6c8f0fae PyBullet: include the pre-trained policy files in data 2018-05-26 08:49:23 +10:00
Erwin Coumans efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans da73556ca7 bump up pybullet version to 2.0.0 2018-05-25 08:26:09 +10:00
Erwin Coumans 9a36d144c3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-25 08:25:27 +10:00
Erwin Coumans a9ff5246c9 make gjk a bit more robust, try different initial guess vector if it fails to find a solution (happens for queries with large differences in shape size) 2018-05-25 08:18:12 +10:00
erwincoumans abeae7e1e7 Merge pull request #1701 from erwincoumans/master 
PyBullet: add option to cache graphics shapes for URDF files, handy f…
 2018-05-23 14:47:01 +10:00
Erwin Coumans 94da262906 case sensitive header include 2018-05-23 13:51:51 +10:00
Erwin Coumans 77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
erwincoumans f1b4ffaf98 Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
erwincoumans 57e02ae15a Merge pull request #1698 from erwincoumans/master 
PyBullet: :wminor Gym fixes
 2018-05-23 08:19:47 +10:00
Erwin Coumans f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
erwincoumans f74110a4c0 Merge pull request #1695 from erwincoumans/master 
Fix Issue #1623, SphereTriangleDetector
 2018-05-22 16:40:45 +10:00
Erwin Coumans 62d58259bc Fix Issue #1623, SphereTriangleDetector for cases with positive contactBreakingThreshold and where sphere was intersecting with multiple edges 
(need to take the closest edge)

Thanks to Andrea Catania for the report and reproduction case!
 2018-05-22 08:36:00 +10:00
erwincoumans c491141a1f Merge pull request #1692 from erwincoumans/master 
fix HalfCheetahBulletEnv-v0, other PyBullet improvements
 2018-05-20 15:04:24 +10:00
Erwin Coumans 964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans 0b2c9ea645 PyBullet: avoid a crash in SHARED_MEMORY_SERVER 2018-05-20 12:20:06 +10:00
erwincoumans c8dc4dc756 Merge pull request #1690 from erwincoumans/master 
Fix for issue #1643, bump up PyBullet version to 1.9.8
 2018-05-18 17:29:59 -07:00
erwincoumans f90bd1f713 Merge pull request #1688 from erwincoumans/master 
workaround for an out-of-date tinyxml2 version
 2018-05-17 13:49:49 -07:00
erwincoumans 83a34d8ae2 Merge pull request #1663 from vsaulue/fix-doxygen 
Fix some Doxygen comments in btMatrix3x3.
 2018-05-16 17:02:23 -07:00
erwincoumans 8f4d1e722e Merge pull request #1686 from yuchenericwu2/master 
Expose CFM parameters
 2018-05-16 16:18:45 -07:00
erwincoumans 4c4cf11667 Merge pull request #1687 from erwincoumans/master 
fix VR controllers only visible in one eye
 2018-05-16 14:53:06 -07:00
erwincoumans 034dfba3ae fix VR controllers only visible in one eye (remove stray glClear for testing planar reflection) 
PyBullet: force both contactStiffness and contactDamping (report error otherwise)
 2018-05-16 14:24:12 -07:00
erwincoumans b432daed65 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-16 12:11:29 -07:00